RT-1 Robot Action Augmented
Collection
35 items • Updated
observation.sawyer.joints listlengths 8 8 | observation.sawyer.ee_pose listlengths 7 7 | observation.sawyer.base_position listlengths 3 3 | observation.sawyer.base_orientation float32 0 0 | observation.sawyer.ee_error listlengths 7 7 | observation.ur5e.joints listlengths 7 7 | observation.ur5e.ee_pose listlengths 7 7 | observation.ur5e.base_position listlengths 3 3 | observation.ur5e.base_orientation float32 0 0 | observation.ur5e.ee_error listlengths 7 7 | observation.panda.joints listlengths 8 8 | observation.panda.ee_pose listlengths 7 7 | observation.panda.base_position listlengths 3 3 | observation.panda.base_orientation float32 0 0 | observation.panda.ee_error listlengths 7 7 | observation.kinova3.joints listlengths 8 8 | observation.kinova3.ee_pose listlengths 7 7 | observation.kinova3.base_position listlengths 3 3 | observation.kinova3.base_orientation float32 0 0 | observation.kinova3.ee_error listlengths 7 7 | observation.kuka_iiwa.joints listlengths 8 8 | observation.kuka_iiwa.ee_pose listlengths 7 7 | observation.kuka_iiwa.base_position listlengths 3 3 | observation.kuka_iiwa.base_orientation float32 0 0 | observation.kuka_iiwa.ee_error listlengths 7 7 | observation.xarm7.joints listlengths 8 8 | observation.xarm7.ee_pose listlengths 7 7 | observation.xarm7.base_position listlengths 3 3 | observation.xarm7.base_orientation float32 0 0 | observation.xarm7.ee_error listlengths 7 7 | observation.jaco.joints listlengths 7 7 | observation.jaco.ee_pose listlengths 7 7 | observation.jaco.base_position listlengths 3 3 | observation.jaco.base_orientation float32 0 0 | observation.jaco.ee_error listlengths 7 7 | natural_language_instruction stringclasses 426 values | observation.state listlengths 7 7 | observation.joints listlengths 8 8 | observation.ee_pose listlengths 7 7 | timestamp float32 0 91.3 | frame_index int64 0 274 | episode_index int64 0 2.5k | index int64 0 109k | task_index int64 0 425 |
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] | pick orange from bottom drawer and place on counter | [
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] | pick orange from bottom drawer and place on counter | [
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] | 1.333333 | 4 | 0 | 4 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | 1.666667 | 5 | 0 | 5 | 0 |
[
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] | pick orange from bottom drawer and place on counter | [
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] | 2.333333 | 7 | 0 | 7 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | 2.666667 | 8 | 0 | 8 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | pick orange from bottom drawer and place on counter | [
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] | pick orange from bottom drawer and place on counter | [
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] | 3.666667 | 11 | 0 | 11 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | 4 | 12 | 0 | 12 | 0 |
[
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] | pick orange from bottom drawer and place on counter | [
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] | 4.333333 | 13 | 0 | 13 | 0 |
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] | [
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] | pick orange from bottom drawer and place on counter | [
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] | 4.666667 | 14 | 0 | 14 | 0 |
[
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] | [
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] | 0 | [
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] | [
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] | 0 | [
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] | [
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] | [
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] | 0 | [
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0.00003802776336669922,
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] | pick orange from bottom drawer and place on counter | [
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] | [
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] | 5 | 15 | 0 | 15 | 0 |
[
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0
] | [
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] | [
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] | pick orange from bottom drawer and place on counter | [
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] | 5.666667 | 17 | 0 | 17 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | 6 | 18 | 0 | 18 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | pick orange from bottom drawer and place on counter | [
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] | 7 | 21 | 0 | 21 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | 7.333333 | 22 | 0 | 22 | 0 |
[
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] | [
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] | pick orange from bottom drawer and place on counter | [
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] | 7.666667 | 23 | 0 | 23 | 0 |
[
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] | [
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] | [
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] | 0 | [
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0.00004553794860839844,
0.000033795833587646484,
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] | pick orange from bottom drawer and place on counter | [
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] | [
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] | 8 | 24 | 0 | 24 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | [
0,
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] | 0 | [
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] | [
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] | [
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] | [
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] | 0 | [
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] | [
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] | [
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] | [
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] | 0 | [
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0.0003344416618347168,
0.00003838539123535156,
0.00003808736801147461,
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] | pick orange from bottom drawer and place on counter | [
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] | 8.333333 | 25 | 0 | 25 | 0 |
[
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] | pick orange from bottom drawer and place on counter | [
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] | 8.666667 | 26 | 0 | 26 | 0 |
[
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] | pick orange from bottom drawer and place on counter | [
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] | 9 | 27 | 0 | 27 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | pick orange from bottom drawer and place on counter | [
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] | [
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] | 9.333333 | 28 | 0 | 28 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | pick orange from bottom drawer and place on counter | [
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] | 10 | 30 | 0 | 30 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | 10.333333 | 31 | 0 | 31 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | 10.666667 | 32 | 0 | 32 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | 11 | 33 | 0 | 33 | 0 |
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] | pick orange from bottom drawer and place on counter | [
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] | 11.333333 | 34 | 0 | 34 | 0 |
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End of preview. Expand
in Data Studio
fractal20220817_data_train_7500_10000_augmented
Overview
- Codebase version:
v3.0 - Robots: images, jaco, kinova3, kuka_iiwa, panda, sawyer, ur5e, xarm7
- FPS: 3
- Episodes: 2,500
- Frames: 109,268
- Splits:
train:0:2500
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.image |
video |
256×320×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
256×320×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
256×320×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
256×320×3 |
Augmented image for kuka_iiwa robot |
observation.images.panda |
video |
256×320×3 |
Augmented image for panda robot |
observation.images.sawyer |
video |
256×320×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
256×320×3 |
Augmented image for ur5e robot |
observation.images.xarm7 |
video |
256×320×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
Index of the current episode within the dataset. |
frame_index |
int64 |
1 |
Index of the current frame within its episode. |
index |
int64 |
1 |
Global frame index across the whole dataset. |
natural_language_instruction |
string |
1 |
Natural language command describing the task |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.jaco.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.jaco.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.jaco.ee_error |
float32 |
7 |
The eef difference between the augmented jaco robot and the original robot |
observation.jaco.ee_pose |
float32 |
7 |
The eef position of jaco robot |
observation.jaco.joints |
float32 |
7 |
The joint position of jaco robot |
observation.joints |
float32 |
8 |
Joint angle of source robot |
observation.kinova3.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kinova3.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kinova3.ee_error |
float32 |
7 |
The eef difference between the augmented kinova3 robot and the original robot |
observation.kinova3.ee_pose |
float32 |
7 |
The eef position of kinova3 robot |
observation.kinova3.joints |
float32 |
8 |
The joint position of kinova3 robot |
observation.kuka_iiwa.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kuka_iiwa.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kuka_iiwa.ee_error |
float32 |
7 |
The eef difference between the augmented kuka_iiwa robot and the original robot |
observation.kuka_iiwa.ee_pose |
float32 |
7 |
The eef position of kuka_iiwa robot |
observation.kuka_iiwa.joints |
float32 |
8 |
The joint position of kuka_iiwa robot |
observation.panda.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.panda.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.panda.ee_error |
float32 |
7 |
The eef difference between the augmented panda robot and the original robot |
observation.panda.ee_pose |
float32 |
7 |
The eef position of panda robot |
observation.panda.joints |
float32 |
8 |
The joint position of panda robot |
observation.sawyer.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.sawyer.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.sawyer.ee_error |
float32 |
7 |
The eef difference between the augmented sawyer robot and the original robot |
observation.sawyer.ee_pose |
float32 |
7 |
The eef position of sawyer robot |
observation.sawyer.joints |
float32 |
8 |
The joint position of sawyer robot |
observation.state |
float32 |
7 |
Copy of the state field in source robot's RLDS dataset |
observation.ur5e.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.ur5e.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.ur5e.ee_error |
float32 |
7 |
The eef difference between the augmented ur5e robot and the original robot |
observation.ur5e.ee_pose |
float32 |
7 |
The eef position of ur5e robot |
observation.ur5e.joints |
float32 |
7 |
The joint position of ur5e robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
Integer ID of the high-level task this episode/frame belongs to. |
timestamp |
float32 |
1 |
Time stamp of the current frame within the episode (in second). |
Website
- Website page: https://oxe-auge.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
Citation Policy
If you use OXE-AugE datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@misc{googleblog_rt1_2022,
author = {Keerthana Gopalakrishnan and Kanishka Rao},
title = {RT-1: Robotics Transformer for real-world control at scale},
howpublished = {Google Research Blog},
year = {2022},
month = {December},
url = {https://research.google/blog/rt-1-robotics-transformer-for-real-world-control-at-scale/}
}
OXE-AugE Dataset Citation (ours)
@misc{
ji2025oxeauge,
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
journal={arXiv preprint arXiv:2512.13100},
year={2025}
}
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
82 MB
Number of rows:
109,268